ported vtol module to posix

src/modules/vtol_att_control/standard.cpp

@@ -288,11 +288,11 @@ Standard::set_max_mc(unsigned pwm_value)
 	int ret;
 	unsigned servo_count;
 	char *dev = PWM_OUTPUT0_DEVICE_PATH;
-	int fd = open(dev, 0);
+	int fd = px4_open(dev, 0);
 
-	if (fd < 0) {err(1, "can't open %s", dev);}
+	if (fd < 0) {PX4_WARN("can't open %s", dev);}
 
-	ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
 	struct pwm_output_values pwm_values;
 	memset(&pwm_values, 0, sizeof(pwm_values));
 
@@ -301,9 +301,9 @@ Standard::set_max_mc(unsigned pwm_value)
 		pwm_values.channel_count = _params->vtol_motor_count;
 	}
 
-	ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
+	ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
 
-	if (ret != OK) {errx(ret, "failed setting max values");}
+	if (ret != OK) {PX4_WARN("failed setting max values");}
 
-	close(fd);
+	px4_close(fd);
 }

src/modules/vtol_att_control/tailsitter.cpp

@@ -116,7 +116,7 @@ Tailsitter::scale_mc_output()
 	float airspeed;
 	calc_tot_airspeed();	// estimate air velocity seen by elevons
 	// if airspeed is not updating, we assume the normal average speed
-	if (bool nonfinite = !isfinite(_airspeed->true_airspeed_m_s) ||
+	if (bool nonfinite = !PX4_ISFINITE(_airspeed->true_airspeed_m_s) ||
 	    hrt_elapsed_time(&_airspeed->timestamp) > 1e6) {
 		airspeed = _params->mc_airspeed_trim;
 		if (nonfinite) {

src/modules/vtol_att_control/tiltrotor.cpp

@@ -382,11 +382,11 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state) {
 	int ret;
 	unsigned servo_count;
 	char *dev = PWM_OUTPUT0_DEVICE_PATH;
-	int fd = open(dev, 0);
+	int fd = px4_open(dev, 0);
 
-	if (fd < 0) {err(1, "can't open %s", dev);}
+	if (fd < 0) {PX4_WARN("can't open %s", dev);}
 
-	ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
 	struct pwm_output_values pwm_values;
 	memset(&pwm_values, 0, sizeof(pwm_values));
 
@@ -399,11 +399,11 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state) {
 		pwm_values.channel_count = _params->vtol_motor_count;
 	}
 
-	ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
+	ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
 
-	if (ret != OK) {errx(ret, "failed setting max values");}
+	if (ret != OK) {PX4_WARN("failed setting max values");}
 
-	close(fd);
+	px4_close(fd);
 }
 
 bool Tiltrotor::is_motor_off_channel(const int channel) {

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -150,7 +150,7 @@ VtolAttitudeControl::~VtolAttitudeControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -442,7 +442,7 @@ VtolAttitudeControl::task_main_trampoline(int argc, char *argv[])
 
 void VtolAttitudeControl::task_main()
 {
-	warnx("started");
+	PX4_WARN("started");
 	fflush(stdout);
 
 	/* do subscriptions */
@@ -471,7 +471,7 @@ void VtolAttitudeControl::task_main()
 	_vtol_type->set_idle_mc();
 
 	/* wakeup source*/
-	struct pollfd fds[3];	/*input_mc, input_fw, parameters*/
+	px4_pollfd_struct_t fds[3];	/*input_mc, input_fw, parameters*/
 
 	fds[0].fd     = _actuator_inputs_mc;
 	fds[0].events = POLLIN;
@@ -491,7 +491,7 @@ void VtolAttitudeControl::task_main()
 		}
 
 		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
 
 		/* timed out - periodic check for _task_should_exit */
@@ -633,7 +633,7 @@ void VtolAttitudeControl::task_main()
 
 	warnx("exit");
 	_control_task = -1;
-	_exit(0);
+	return;
 }
 
 int
@@ -646,11 +646,11 @@ VtolAttitudeControl::start()
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 10,
 				       2048,
-				       (main_t)&VtolAttitudeControl::task_main_trampoline,
+				       (px4_main_t)&VtolAttitudeControl::task_main_trampoline,
 				       nullptr);
 
 	if (_control_task < 0) {
-		warn("task start failed");
+		PX4_WARN("task start failed");
 		return -errno;
 	}
 
@@ -661,49 +661,53 @@ VtolAttitudeControl::start()
 int vtol_att_control_main(int argc, char *argv[])
 {
 	if (argc < 2) {
-		errx(1, "usage: vtol_att_control {start|stop|status}");
+		PX4_WARN("usage: vtol_att_control {start|stop|status}");
 	}
 
 	if (!strcmp(argv[1], "start")) {
 
 		if (VTOL_att_control::g_control != nullptr) {
-			errx(1, "already running");
+			PX4_WARN("already running");
+			return 0;
 		}
 
 		VTOL_att_control::g_control = new VtolAttitudeControl;
 
 		if (VTOL_att_control::g_control == nullptr) {
-			errx(1, "alloc failed");
+			PX4_WARN("alloc failed");
+			return 1;
 		}
 
 		if (OK != VTOL_att_control::g_control->start()) {
 			delete VTOL_att_control::g_control;
 			VTOL_att_control::g_control = nullptr;
-			err(1, "start failed");
+			PX4_WARN("start failed");
+			return 1;
 		}
 
-		exit(0);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
 		if (VTOL_att_control::g_control == nullptr) {
-			errx(1, "not running");
+			PX4_WARN("not running");
+			return 0;
 		}
 
 		delete VTOL_att_control::g_control;
 		VTOL_att_control::g_control = nullptr;
-		exit(0);
+		return 0;
 	}
 
 	if (!strcmp(argv[1], "status")) {
 		if (VTOL_att_control::g_control) {
-			errx(0, "running");
+			PX4_WARN("running");
 
 		} else {
-			errx(1, "not running");
+			PX4_WARN("not running");
 		}
+		return 0;
 	}
 
-	warnx("unrecognized command");
+	PX4_WARN("unrecognized command");
 	return 1;
 }

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -46,6 +46,10 @@
 #ifndef VTOL_ATT_CONTROL_MAIN_H
 #define VTOL_ATT_CONTROL_MAIN_H
 
+#include <px4_config.h>
+#include <px4_defines.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -80,7 +84,6 @@
 #include <systemlib/circuit_breaker.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/geo/geo.h>
-#include <nuttx/fs/ioctl.h>
 #include <fcntl.h>
 
 #include "tiltrotor.h"

src/modules/vtol_att_control/vtol_type.cpp

@@ -40,7 +40,7 @@
 
 #include "vtol_type.h"
 #include "drivers/drv_pwm_output.h"
-#include <nuttx/fs/ioctl.h>
+#include <px4_defines.h>
 #include "vtol_att_control_main.h"
 
 VtolType::VtolType(VtolAttitudeControl *att_controller) :
@@ -81,11 +81,11 @@ void VtolType::set_idle_mc()
 	int ret;
 	unsigned servo_count;
 	char *dev = PWM_OUTPUT0_DEVICE_PATH;
-	int fd = open(dev, 0);
+	int fd = px4_open(dev, 0);
 
-	if (fd < 0) {err(1, "can't open %s", dev);}
+	if (fd < 0) {PX4_WARN("can't open %s", dev);}
 
-	ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
 	unsigned pwm_value = _params->idle_pwm_mc;
 	struct pwm_output_values pwm_values;
 	memset(&pwm_values, 0, sizeof(pwm_values));
@@ -95,11 +95,11 @@ void VtolType::set_idle_mc()
 		pwm_values.channel_count++;
 	}
 
-	ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
+	ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
 
-	if (ret != OK) {errx(ret, "failed setting min values");}
+	if (ret != OK) {PX4_WARN("failed setting min values");}
 
-	close(fd);
+	px4_close(fd);
 
 	flag_idle_mc = true;
 }
@@ -111,9 +111,9 @@ void VtolType::set_idle_fw()
 {
 	int ret;
 	char *dev = PWM_OUTPUT0_DEVICE_PATH;
-	int fd = open(dev, 0);
+	int fd = px4_open(dev, 0);
 
-	if (fd < 0) {err(1, "can't open %s", dev);}
+	if (fd < 0) {PX4_WARN("can't open %s", dev);}
 
 	unsigned pwm_value = PWM_LOWEST_MIN;
 	struct pwm_output_values pwm_values;
@@ -125,9 +125,9 @@ void VtolType::set_idle_fw()
 		pwm_values.channel_count++;
 	}
 
-	ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
+	ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
 
-	if (ret != OK) {errx(ret, "failed setting min values");}
+	if (ret != OK) {PX4_WARN("failed setting min values");}
 
-	close(fd);
+	px4_close(fd);
 }